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CEAS EuroGNC 2024

Kalman Filter-Based Framework for Predicting Aerial Telerobotic Operations with Input and Output Delays
Nazmus Sakib Graduate Student, Aerospace and Ocean Engineering, Virginia Tech, Blacksburg, VA, USA.
Zakia Ahmed Graduate Student, Mechanical Engineering, Virginia Tech, Blacksburg, VA, USA.
Craig A. Woolsey Professor, Aerospace and Ocean Engineering, Virginia Tech, Blacksburg, VA, USA.
Abstract:
This paper concerns the development and implementation of a novel model-based predictor for the position and orientation of a telerobotic system subject to time delays. The considered time delays are present both in the input and the output, meaning an input applied at the current time affects the system after some delay and the result is presented to the operator after another delay. Mathematical descriptions of two predictors are presented: a Smith predictor (SP), which is widely used for mitigating time-delayed systems, and a Kalman predictor (KP). The SP and KP are then implemented on simulated flight data generated using a small, fixed-wing uncrewed aerial vehicle model. The KP provides more accurate predictions of all the aircraft states when compared to the SP. The simulations are generated for two measurement noise conditions and it is observed that the KP is more robust to measurement noise than the SP
Keywords: 
 View PDF CEAS-GNC-2024-087


Nazmus Sakib, Zakia Ahmed, Craig A. Woolsey: Kalman Filter-Based Framework for Predicting Aerial Telerobotic Operations with Input and Output Delays. Proceedings of the 2024 CEAS EuroGNC conference. Bristol, UK. June 2024. CEAS-GNC-2024-087.
BibTeX entry:

@Incollection{CEAS-GNC-2024-087,
    author = {Sakib, Nazmus and Ahmed, Zakia and Woolsey, Craig A.},
    title = {Kalman Filter-Based Framework for Predicting Aerial Telerobotic Operations with Input and Output Delays},
    booktitle = {Proceedings of the 2024 {CEAS EuroGNC} conference},
    address = {Bristol, UK},
    month = jun,
    year = {2024},
    note = {CEAS-GNC-2024-087}
}